2014 International Radar Conference

A Scanning FMCW-Radar System for the Detection

of Fast Moving Objects
Sensors for Sniper Detection Purposes

A. Shoykhetbrod, A. Hommes and N. Pohl

Fraunhofer FHR
Wachtberg, Germany
{alex.shoykhetbrod}, {alexander.hommes},
{nils.pohl}@fhr.fraunhofer.de

Abstract—This paper describes a mobile broadband 57 GHz –

64 GHz FMCW radar sensor system designed to improve the
situational awareness of soldiers on peacemaking or
peacekeeping missions by detecting projectiles in flight. In order
to obtain an instantaneous coverage of the azimuthal field of
view, a frequency-scanning meander antenna is used. Thereby,
the sensors are provisioned to employ a scanning principle by
radiating broadband waveforms with different frequencies into
separate spatial directions
Keywords—60 GHz; FMCW; radar; scanning; detection and
localization; velocity; meander line antenna; substrate integrated
waveguide (SIW).
I. INTRODUCTION
Nowadays, for soldiers under fire, it is impossible to
acoustically determine the clear origin of fired shots on account
of the propagating shock wave of the Mach cone. In urban
terrain in particular, this problem is intensified still further
through multipath propagation. Demographic trends pointed
out the increasing urbanization, which makes urban dimensions
likely for all future military operations. Terrorist threats and
asymmetric warfare during peacemaking and peacekeeping
operations have shown the need to ensure that deployed forces
have the capability for self-protection and survival in view of
the threat posed especially by snipers. At present there are
various sniper detection systems in existence using different
physical effects. Acoustic and optronic solutions tend to be
commercially available, but their operational capability can be
constrained by high levels of back round noise, multipath
propagation, dust, smoke and mist. Millimeter wave (mmW)
radar sensors offer a small and lightweight option as stand-
alone devices or as a part of a multi sensor suite. Radar proves
to be suitable in this connection because of its all-weather
capability, its capacity to penetrate dust and smoke, and its
unique alarm threshold and low error rate [1, 2, 3, and 4].
Within this paper new design approaches and the viability
of a projectile tracking radar providing an exactly determined
trajectory of the projectile in the supervised area and location
for the origin of sniper fire are investigated and evaluated.
II. SYSTEM CONCEPT
A. RCS-Studies
This concept study addresses issues relating to the radar
performance and the distance-dependent detection probability
and localization probability. First of all the frequency-
dependent RCS of projectiles was determined for various
frequency ranges as a function of the aspect angle of the
projectile.
B. FMCW-Radar-Design
Using the FMCW technique offers a high average power, a
good velocity (Doppler shift) and range resolution. The
demanded radar design requires good measurement accuracy,
high update rates and detection of very low radar cross section
(RCS) objects in tough radar environments e.g. rural areas with
high clutter level from near and distant buildings, moving
vehicles or human beings.
C. Meander-Line-Antenna
In case of a scanning radar approach, it is impossible to use
a mechanically steered antenna because of the low rotational
velocity in respect to the velocity of the projectile. An
alternative is given by using electrically steered radar beams,
but in most cases conventional array-feed antennas are very
complex, large and expensive due to the necessary phase
shifter and power distribution networks and restrict a mobile
usage. The usage of a substrate integrated waveguide (SIW)
“leaky wave antenna” allows steering of the main lobe by a
simple frequency shift and leads to a significant reduction of
the array-dimensions [5].
D. Realization of the Demonstrator and first tests
A mobile (low cost) demonstrator (Fig 1.) has been set up
for proof of concept and for demonstration purposes the system
was basically tested with a small corner reflector (-9 dBsm) as
an example for a human carried ground moving target.

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 2014 International Radar Conference
Fig. 1. The final System Demonstrator.
III. RESULTS
A radar system can be reliably used for the detection of
projectiles in a certain area but it is no handheld solution.
Recent advance in MMIC (Monolithic microwave integrated
circuit) technology can enable further miniaturization of all
essential components for a portable mmW based radar sensor
solution for sniper detection purposes. Such a system could
allow accurate track reconstruction from a single station or
soldier with a negligible false-alarm rate. So our future work is
focussed on the miniaturization of a FMCW radar as a portable
system with regard to the antenna design, size and low power
consumption.
A. RCS Studies
An analysis was first conducted to determine the viability of
a radar solution to the sniper detection and locating problem.
The frequency depending RCS for various projectiles and
several frequencies in the mmW-domain from all aspects was
simulated using CADRCS [6], which was also validated by
measurements under well controlled conditions in an anechoic
chamber.
Fig. 2 is a plot of the resulting RCS values as a function of
the aspect angle for a given polarization. With known projectile
RCS the range depending detection probability was calculated.
Fig. 2. RCS Simulation results for a 7.62 mm projectile from 3 GHz
to 24 GHz (a) and from 35 GHz up to 110 GHz (b).
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B. Concept and Realisation of the 60 GHz FMCW Radar
The application requires quite short maximum ranges up to
25 m. Hence, operating frequencies up to the W-Band are
possible choices. However, as indicated above the radar sensor
system is working with a center frequency of 60 GHz. Even
though there is a strong atmospheric absorption line at the
working frequencies the detection possibility at short ranges is
high enough to record good results. One of the possible uses is
the detection of bullets or man portable air defence systems
(MANPAD). Especially for small caliber weapons, sensitivity
becomes a major issue in such application with estimated target
velocities up to 1000 m/s. Therefore an operating frequency
within the V-Band is used as the best compromise between
object RCS (Fig. 1), system sensitivity and at the lowest
possible system price.
The hardware concept is based on a broadband 57 GHz-
63 GHz FMCW frontend as shown in the block diagram of
Fig. 2. The LO for the RF - processing stage in the frequency
range from 14 GHz to 16 GHz is provided by a special
frequency multiplier and filter stage. After this a division of the
signal for the transmission - and reception branch takes place in
the subsequent stage by means of a power splitter. The applied
waveform is a sequence of triangular ramps with a sweep time
τ=500µs.
The subsequent link in the transmit/receive chain is an active
frequency multiplier, which is a low cost alternative to a
frequency conversion. The nonlinear transfer function of this
element causes an inevitable signal distortion in the form of
harmonics. By filtering (high pass), the fourth harmonic (is the
only overtone corresponding for the desired range from
57 GHz to 63 GHz) is selected, amplified and radiated through
the transmitting antenna. The transmitted signal is amplified in
the receive branch, in synchronism with the radiation used as a
local oscillator. The signal, reflected back by a spreader, in the
first receiving step is amplified by a low noise amplifier
(LNA), with a noise figure of 4 dB. The preamplified signal is,
by means of an I/Q – demodulator, mixed with the transmitted
signal down to baseband in order to enable a digital sample.
The use of in - phase and quadrature - method permits
demodulation of the high frequency signal with the
preservation of phase information. The evaluation of the phase
information is a precondition for determining the speed
(Doppler) or the flight direction of the projectile (“mono
pulse”). Another advantage of this method is that a sampled
signal is directly gathered in its complex form. Thus, the use of
digital signal processing is more flexible and efficient.
Additionally the sensor contains the complete sensor
processing chain and it is able to operate independently and to
deliver tracked object data (range, speed, direction) to a human
machine interface (HMI). The I/Q channels are digitalized with
15 bit and 75 MS/s. A direct digital synthesis (DDS) generates
the triangular waveform ramp (chirp) and a trigger for the
analog digital sampling unit. The time domain data are mapped
with a Fast Fourier Transform (FFT) algorithm into the
frequency domain. The spectral resolution in the frequency
domain is determined by the time domain windowing function
if the window width τo is smaller than τ/2 (τ: sweep time) and if
the window is synchronized with the frequency sweep. The
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 2014 International Radar Conference
time domain window width is the length of the time domain
signal train on which the FFT algorithm is performed. The
windowing function is a weighting function applied to the time
domain input signal chain.
Fig. 3. Hardware block diagramm of the 57 GHz-63 GHz FMCW radar.
After this typical signal processing steps a time – frequency
analysis is performed ether by using wavelet transformation or
Short Time Fourier Transformation (SFT) using a Gauss
window to combine the angular resolution of the scanning
concept and the target range. After calculating a 2D Fast
Fourier Transformation, which is used to calculate a sequence
of range-Doppler matrices to separate the fixed targets. FFT-
based methods are suitable for stationary stochastic process.
The frequency resolution depends on the length of data, the
sample rate and the data window used. For the flying
projectiles, its radar reflected waveform is non- stationary.
Thus when analyzed by FFT, the length of the phase coherent
dataset is limited. For fast moving targets also the Doppler shift
has to be taken into account and has to be corrected. This setup
guarantees optimum frequency and target position resolution.
C. Meander-Line-Antenna Design
A meander-line antenna is equipped with multitude of
equidistant but spatially separated slots along the horizontal
antenna axis (Fig. 4). Due to constructive and destructive
interferences of the radiated electromagnetic waves an overall
radiation pattern is formed and if all slots are exited “in phase”
at the center frequency of 60 GHz a maximum radiation will be
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achieved whereas the radiation angle is a function of the phase
relation between adjacent slots. If the operating frequency is
increasing or decreasing from the center frequency also the
phase differences between the slots in-/decrease and the
position of the focused beam changes from the center position
(orthogonal, in reference to the antenna plane) to an arbitrary
specified angle. Highly directive beam positions can be
achieved with this type of antenna just by varying the feed
frequency (chirp) as indicated in Fig. 5. The beamwidth of the
radiation remains exactly constant at 6° (at -3dB) as the beam
is scanned by changing the frequency. Using an absolute
bandwidth of 6 GHz, a relative bandwidth of ~ 450 MHz for
range estimation (range resolution ~33cm) is available. Also
the aperture distribution can be easily affected by tapering to
control the (low) sidelobe level or beam shape.
a b
0 40mm
Fig. 4. Model (a) and a photographie (b) of a scanning broadband
57GHz – 63 GHz meander-line-SIW-antenna Design
For an orthogonal direction of the main loop in respect to the
antenna plane the phase distance of two adjacent slots should
be half of the free wavelength of the center frequency λ/2. The
scanning range can be enhanced by variation of the of the
phase difference between two adjacent slots.
Fig. 5. Simulated directivity of the meander-line antenna in V-band
form 57 GHz (-30°) up to 63 GHz (+30°), stepsize 500 MHz.
Due to the meander-shaped layout, the polarization plane is
tilted by 180° from slot to slot. Therefore an anti-phase feeding
of neighbouring slots is needed to obtain a constructive
interference pattern with a maximum of radiated energy.
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 2014 International Radar Conference
In contrast to the leaky-wave antenna concept as a resonant
structure, the meander-line antenna is not matched to avoid
reflections inside. The whole energy should be emitted through
the slots if the resistance of each slot corresponds exactly to the
product of the total numbers of slots and the impedance of the
waveguide. The theoretical calculations and the verification
were done by using FEM-models for slotted dielectrically filled
waveguides.
D. System validation
First tests were performed with a small (RCS: -8dBsm)
moving corner reflector in a short distance to the radar system.
Fig. 6. Time domain data with angular distribution of the corner signature
moving from middle position to the left side (carthesian coordinate system).
Within the time domain data, the target position is given by
the directivity of the meander-line antenna for a known feed
frequency/time (mentioned with left, middle and right sight
looking in Fig. 6). A strong two time’s twinkling reflex could
be observed right in the middle of the field of view of the
antenna. The frequency domain of the 30 sec. dataset is
calculated into range gates. A strong reflex could be observed
over a distance of about 5 m away from the sensor, shown in
Fig. 7.
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Fig. 7. Frequency domain plot with the signature of a moving corner
reflector (cartesian coordinate system).
To simplify the visualization of the radar signatures after
processing, first the data is plotted in Cartesian coordinates to
give an impression of the time-frequency-range dependency.
The time-frequency-analysis is done either by wavelet –
Transformation or Short Time Fourier Transformation (SFT),
depending on the quality of desired results.
First real field tests for fast moving objects were performed
varying the size of the projectiles by using multiple weapons
with different calibers from 5.56 mm up to 12.7 mm (cal .50).
Figure 8 presents the processed signature for a Dragunow
7.62 x 54R projectile in respect to the azimuth scan direction
and the detection range. The RCS was estimated with help of
the radar equation including the radiation pattern of the
antennas at -29 dBm2. Also the projectile velocity at the closest
point of approach (CPA) was determined to be 610 m/s (V0 =
850 m/s).
Fig. 8 Combined Time and Frequency domain plot after time-frequency
analysis with the V-shaped projectile signature of a DRAGUNOW 7.62 mm
projectile with estimated trajectory (yellow bar). The other detections have its
origin in noise or spurs. (Plot in Cartesian coordinate system). The signature
consists of two components: fall - positive doppler shift, rise - negative
Doppler shift rsulting from the up and down chirp of the triangular waveform
used for frequency ramp (chirp). With the difference of the intermitted
frequency (IF) ± doppler shift and the angular deviation of the signatures (rise
and fall) the trajectory could be estimated and the radial velocity components
are calculated into the real velocity of the projectile of about 570 m/s ± 40
m/s.
In case of a moving object the radial velocity during the pass
through of the projectile leads to a virtual acceleration so that
the calculation of the actual speed is strongly depending on the
time depending detection angle. A coherent integration over
several Doppler cells is necessary, because the target signature
is spread over neighboring Doppler cells or different range
bins. This integration time is limited due to the fact, that the
fast change of the beam direction caused by frequency sweep
limits the projectile observing time inside the beam.
To complete the presentation of the measurement results,
the radar signature of the projectile is plotted in a polar diagram
which could be easily transform in a georeferenced data by
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using the an internal electronic compass and a global
positioning system (GPS).
Fig. 10. The radar signature of a Dragunow 7.62 mm projectile plotted in a
Polar Diagram.
In order to obtain the distance between the radar sensor and
the origin of the sniper fire the calculated speed of the
projectile in respect to the detection angle could be used to
recalculate the distance between the sniper and the radar
sensor. Using an very simple empiric estimation, that the speed
of a bullet linearly decrease by 0.8 (m/s)/m [7] and a measured
projectile local speed of 570 m/s ± 40 m/s, a RCS ~ -30 dBm2
indicating a 7.62 mm bullet with a V0 = 815 m/s ± 35 m/s
(Estimated as an average value for the launch velocity of 7.62
mm cartridges shooting from different riffles: for example G3
V0 =780 m/s and Dragunow V0 = 850 m/s) the calculated
traveled distance of the projectile is about 200 m ± 50 m away
from the radar sensor. This distance value fits well to the real
measurement conditions.
III. SUMMARY
Through the ongoing development of radar systems for
projectile detection a FMCW broadband radar demonstrator
with a center frequency of 60 GHz for projectile detection
purposes has been setup and demonstrated by using state of the
art technologies like frequency scanning antennas and low cost
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hardware components. It was shown, that the chosen approach
is well suited for the real time detection of slow and also very
fast moving objects with a very low RCS. To realize an omni-
directional detection area around an object several radar
sensors are required or an extended meander-line antenna
concept has to be develop to gain a scanning angle > 60°.
Therefore different realization concepts have to be investigated
and compared in the future. Because of the limited detection
range of the radar, best results will be achieved in operational
conditions by performing a sensor fusion with other types of
sensors e.g. acoustic or optronic ones.
A. Authors and Affiliations
a) Alex Shoykhetbrod, Fraunhofer-Institute for High
Frequency Physics and Radar Techniques FHR, Dept.
Millimeter-Wave Radar and High Frequency Sensors,
Germany.
b) Alexander Hommes, Fraunhofer-Institute for High
Frequency Physics and Radar Techniques FHR, Dept.
Millimeter-Wave Radar and High Frequency Sensors,
Germany.
c) Nils Pohl, Fraunhofer-Institute for High Frequency
Physics and Radar Techniques FHR, Dept. Millimeter-
Wave Radar and High Frequency and High Frequency
Sensors, Germany.
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